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Robust explicit MPC based on approximate multi-parametric convex programming

Muñoz de la Peña, David and Bemporad, Alberto and Filippi, Carlo Robust explicit MPC based on approximate multi-parametric convex programming. In: Decision and Control Conference. IEEE, 14th-17th December 2004, pp. 2491-2496. ISBN 0-7803-8682-5 (2004)

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Many robust model predictive control (MPC) schemes require the online solution of a convex program, which can be computationally demanding. For deterministic MPC schemes, multi-parametric programming was successfully applied to move most computations offline. In this paper we adopt a general approximate multi-parametric algorithm recently suggested for convex problems and propose to apply it to a classical robust WC scheme. This approach enables one to implement a robust MPC controller in real time for systems with polytopic uncertainty, ensuring robust constraint satisfaction and robust convergence to a given bounded set.

Item Type: Book Section
Identification Number: 10.1109/CDC.2004.1428788
Uncontrolled Keywords: approximate multi-parametric convex programming; classical robust WC scheme; deterministic MPC schemes; polytopic uncertainty; robust constraint satisfaction; robust convergence; robust model predictive control schemes; uncertain systems; convex programming; predictive control; robust control; uncertain systems
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TJ Mechanical engineering and machinery
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 27 Jul 2011 08:47
Last Modified: 05 Aug 2011 13:54
URI: http://eprints.imtlucca.it/id/eprint/565

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